Integrated Fiducial Marker for Multi-Sensor Calibration Alignment
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Solution Overview
Problem
Current sensor calibration methods for autonomous vehicles are labor-intensive, time-consuming, and error-prone due to the need for separate calibration of each sensor type using different targets and methods, making it difficult to combine results from different sensors.
Innovation Solution
The use of an integrated fiducial marker with a 3D configuration and a GPS device that allows for simultaneous calibration of multiple sensors of different types by detecting feature points and estimating their 3D coordinates, enabling the derivation of transformation matrices between different sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate calibration targets and methods are used for each sensor type, then each sensor can be calibrated individually, but the calibration process becomes labor-intensive, time-consuming, and error-prone
Solution Approach 1:
The patent combines multiple calibration targets for different sensor types into a single integrated fiducial marker. This marker contains geometric features that can be detected by both 2D image sensors and 3D depth sensors simultaneously, eliminating the need for separate calibration targets and processes for each sensor type.
Solution Approach 2:
The fiducial marker is designed with universal geometric features that serve multiple calibration functions. The same marker can be used to calibrate cameras, LiDAR, radar, and other sensors with different measurement modalities, making the calibration process more efficient and consistent across all sensor types.
2Ease of manufacture
If separate calibration targets are used for each sensor type, then each sensor can be calibrated independently, but the process becomes complex and difficult to combine results from different sensors
Solution Approach 1:
The patent merges multiple calibration targets into a single integrated fiducial marker that contains geometric features detectable by different sensor types. This unified approach simplifies the calibration process by providing a common reference frame for all sensors, making it easier to combine results and derive transformation matrices between different sensor coordinate systems.
3Reliability
If different calibration methods are used for each sensor type, then each sensor can be calibrated according to its specific requirements, but the overall calibration process becomes labor-intensive and error-prone
Solution Approach 1:
The fiducial marker provides a universal calibration reference that works across different sensor types. By using the same marker for calibrating cameras, LiDAR, radar, and other sensors, the patent reduces operational complexity and minimizes human error associated with switching between different calibration procedures, while maintaining the reliability needed for each sensor type's specific requirements.
Data Source
AI summary
The present teaching relates to different configurations for facilitating calibration of multiple sensors of different types. A plurality of fiducial markers are arranged in space for simultaneously calibrating multiple sensors of different types. Each of the plurality of fiducial markers has a feature point thereon and is provided to enable the multiple sensors to calibrate by detecting the features points and estimating their corresponding 3D coordinates with respect to respective coordinate systems of the multiple sensors.